from pcd_to_passable import VoxelMapGenerator
from passable_to_graph import Voxel2graph

if __name__ == "__main__":
    origin_pcd_path = "../maps/multifloor.pcd"
    passable_pcd_path = "../maps/multifloor_passable.ply"
    graph_path = "../maps/multifloor_graph.yaml"
    
    
    generator = VoxelMapGenerator(
        enable_step_visualization=False, enable_final_visualization=False
    )
    generator(origin_pcd_path, passable_pcd_path)
    
    voxel2graph = Voxel2graph()
    voxel2graph(passable_pcd_path, graph_path, if_visualize=False)

